CN109826914A - A kind of drive mechanism of all-around mobile - Google Patents
A kind of drive mechanism of all-around mobile Download PDFInfo
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- CN109826914A CN109826914A CN201910224681.2A CN201910224681A CN109826914A CN 109826914 A CN109826914 A CN 109826914A CN 201910224681 A CN201910224681 A CN 201910224681A CN 109826914 A CN109826914 A CN 109826914A
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Abstract
The present invention relates to technical field of transportation, more particularly to a kind of drive mechanism of all-around mobile, including rotating layer, driving layer, sphere fixing layer, the rotating layer is arranged on top, it is fixedly connected with driving layer, the driving layer is arranged at intermediate position, is fixedly connected with sphere fixing layer, and the sphere fixing layer is arranged in bottom；Wherein, rotating layer is used to control the direction of motion of sphere in sphere fixing layer, and driving layer is used to control the movement velocity of sphere in sphere fixing layer, and sphere fixing layer 3 is used to load-bearing and fixed sphere.The present invention is to achieve the purpose that all-around mobile by two groups of motor control sphere directions of motion, and two groups of motors can work at the same time, and can also work independently, and effectively reduce the complexity of totle drilling cost and control system；Due to overall construction approximation planetary gear set structure driven, whole small in size and structure is simple, while further improving the reliability of product, so that product is available widely available.
Description
Technical field
The present invention relates to technical field of transportation, and in particular to a kind of drive mechanism of all-around mobile.
Background technique
The drive mechanism of all-around mobile has the drive mechanisms such as spherical tire and Mecanum wheel currently on the market, wherein ball
The technology of shape tire all-around mobile has magnetic levitation technology, and direction and velocity magnitude by three groups of driving wheels of control, comes
Reach the technical pattern of spherical tire all-around mobile；And this all-around mobile mode of Mecanum wheel is that had perhaps based on one
Multidigit is in the principle of the centre wheel of the wheel shaft on wheel periphery, these angled periphery wheel shafts are a part of wheel steering force
It is transformed into above a wheel normal force, direction and speed by respective wheel, the final synthesis of these power is in any requirement
Direction on generate resultant force vector to ensure that this platform can be moved freely on the direction of final resultant force vector
It is dynamic, the direction without changing wheel itself；It is had the following problems in the above-mentioned type:
1, volume is big, and structure is complicated；
2, at high cost, it is not easy widely available；
3, control system is more complicated.
Summary of the invention
In order to solve the above problems existing in the present technology, it is an object of that present invention to provide a kind of transmissions of all-around mobile
Structure, the present invention are to achieve the purpose that all-around mobile by two groups of motor control sphere directions of motion, and two groups of motors
It can work at the same time, can also work independently, effectively reduce the complexity of totle drilling cost and control system；Since overall construction is close
Like planetary gear set structure driven, therefore, whole small in size and structure is simple, while further improving the reliable of product
Property, so that product is available widely available.
The technical scheme adopted by the invention is as follows:
A kind of drive mechanism of all-around mobile, including rotating layer, driving layer, sphere fixing layer, the rotating layer setting
It on top, is fixedly connected with driving layer, the driving layer is arranged at intermediate position, is fixedly connected with sphere fixing layer, the ball
Body fixing layer is arranged in bottom.
Further particularly, told rotating layer includes rotational shell and the end cover for being fixed on rotational shell upper end,
Rotation gear is located at the inside of rotational shell, does not contact with rotational shell, and rotation gear is fixed on the upper end of connecting bracket, rotation
Gear and rotation gear shaft Vertical Meshing, rotation gear shaft run through rotational shell, and the other end is fixedly connected with rotating electric machine, is rotated
Motor is fixed on the outside of rotational shell.
Further particularly, tell that driving layer includes that shell and shape is driven to connect for the connecting bracket of zed type
The two sides of bracket are respectively equipped with a driving wheel；One end of the driving wheel and driven gear ring Vertical Meshing, the other end and sphere
CONTACT WITH FRICTION, driven gear ring are mounted on driving interior of shell, and in the lower section of connecting bracket, driven gear ring and gear shaft
Vertical Meshing, gear shaft are fixedly connected through driving shell, the other end with driving motor, and it is outer that driving motor is fixed on driving
The outside of shell；Wherein, driving motor and rotating electric machine are mutually non-interference, and gear shaft, connecting bracket, rotation gear shaft are mutual
Do not interfere.
Further particularly, told sphere fixing layer includes the fixing shell that two pieces is symmetrically fixedly connected, fixed outer
There are two groups of retainers and steel ball being symmetrically installed inside shell, sphere passes through retainer and fixing shell；Wherein, sphere not with fixation
Shell and retainer contact, the steel ball inner wall joint with sphere and retainer and fixing shell respectively enable sphere solid
Determine the center free movement of shell, fixing shell plays supporting function to sphere by steel ball, sphere is made not depart from fixing shell；
Steel ball does rotation under the movement of sphere and moves around sphere, and the limiting slot of steel ball is provided on retainer, ensure that ball
Steel ball keeps spacing to body in the process of movement.
It may further be preferable that a kind of drive mechanism of all-around mobile is provided with processor, and processor control
Make all electric elements.
The invention has the benefit that
Overall construction approximation planetary gear set structural principle of the invention, wherein in connecting bracket approximation planetary gear set
Planet carrier, the planetary gear in driving wheel approximation planetary gear set, the sun gear in sphere approximation planetary gear set, driving
Ring gear in gear ring approximation planetary gear set；Its steering procedure are as follows: driven gear ring does not rotate, connecting bracket rotation, and band
Dynamic driving wheel does revolution motion around driven gear ring and ball centre axis, i.e. the process of driving wheel revolution is exactly the change in direction
Journey；It drives process are as follows: connecting bracket does not rotate, driven gear ring rotation, and drives driving wheel rotation, due to the one of driving wheel
End is contacted with sphere friction, and therefore, sphere has the driving force in a perpendicular drive wheel revolution direction under the action of driving wheel,
I.e. sphere does forward or backward movement；The mesh of all-around mobile is met under steering procedure and driving process mating reaction
's；Compared with prior art, the present invention, which is realized through two groups of motor control sphere directions of motion, reaches all-around mobile
Purpose, and approximate planetary gear set drive mechanism and modularized design structure are used, effectively reduce totle drilling cost and control
The complexity of system, so that it is small in size, facilitate maintenance and drive mechanism highly reliable, convenient for widely available.
Detailed description of the invention
Fig. 1 is partly cut-away's schematic diagram in the present invention；
Fig. 2 is rotating layer cut-away diagram in the present invention；
Fig. 3 is that layer cut-away diagram is driven in the present invention；
Fig. 4 is sphere fixing layer cut-away diagram in the present invention；
Fig. 5 is whole perspective view of the explosion in the present invention.
In figure: 1- rotating layer；2- drives layer；3- sphere fixing layer；101- rotational shell；102- end cover；103- rotation
Rotating disk；104- rotates gear shaft；105- rotating electric machine；201- drives shell；202- connecting bracket；203- driving wheel；204-
Driven gear ring；205- gear shaft；206- driving motor；301- fixing shell；302- retainer；303- steel ball；304- ball
Body.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further elaborated.
Embodiment
As shown in Figs. 1-5, a kind of drive mechanism of all-around mobile, including rotating layer 1, driving layer 2, sphere fixing layer 3,
The setting of rotating layer 1 is fixedly connected on top with driving layer 2, and the driving layer 2 is arranged at intermediate position, fixes with sphere
Layer 3 is fixedly connected, and the sphere fixing layer 3 is arranged in bottom；Wherein, rotating layer 1 is used to control sphere in sphere fixing layer 3
304 direction of motion, driving layer 2 are used to control the movement velocity of sphere 304 in sphere fixing layer 3, and sphere fixing layer 3 is used to hold
Weight and fixed sphere 304.
Specifically, as shown in Fig. 2, told rotating layer 1 includes rotational shell 101 and is fixed on 101 upper end of rotational shell
End cover 102, rotation gear 103 are located at the inside of rotational shell 101, do not contact with rotational shell 101, rotate gear 103
It is fixed on the upper end of connecting bracket 202, rotation gear 103 and rotation 104 Vertical Meshing of gear shaft, rotation gear shaft 104 runs through
Rotational shell 101, the other end are fixedly connected with rotating electric machine 105, and rotating electric machine 105 is fixed on the outside of rotational shell 101；Its
The course of work are as follows: power is transmitted to rotation gear 103 by rotating gear shaft 104 by the rotating electric machine 105 in rotating layer, by
It is to be fixedly connected in rotating gear 103 with connecting bracket 202, therefore, connecting bracket 202 is driven around 304 central axis of sphere
It does rotation movement, has further changed position of the driving wheel 203 on sphere 304, that is, changed the direction of motion of sphere.
Specifically, as shown in figure 3, telling that driving layer 2 includes driving shell 201 and shape is the connecting bracket of zed type
202, one driving wheel 203 is respectively installed in the two sides of connecting bracket 202；One end of the driving wheel 203 and driven gear ring 204
Vertical Meshing, the other end and 304 CONTACT WITH FRICTION of sphere, driven gear ring 204 is mounted on inside driving shell 201, and is being connected
The lower section of bracket 202, driven gear ring 204 and 205 Vertical Meshing of gear shaft, gear shaft 205 is through driving shell
201, the other end is fixedly connected with driving motor 206, and driving motor 206 is fixed on the outside of driving shell 201；Wherein, it drives
Motor 206 and rotating electric machine 105 are mutually non-interference, and gear shaft 205, connecting bracket 202, rotation gear shaft 104 are mutually not
Interference；Its course of work are as follows: drive the driving motor 206 of layer that power is transmitted to driven gear ring by gear shaft 205
204, since one end of driving wheel 203 and 204 Vertical Meshing of driven gear ring and connecting bracket 202 are under rotating electric machine control
It remains stationary, therefore, driving wheel 203 is done rotation movement in connecting bracket 202, because connecting bracket 202 is laid out at Z-shaped,
So the power that two driving wheels 203 are transmitted to sphere 304 is that balance is uniform, sphere 304 is made to have a vertical connecting bracket 202
The rotatory force of sense of rotation reaches the purpose of all-around mobile under the action of sphere fixing layer 3；Wherein rotating electric machine 105
It can work at the same time with driving motor 206, can also work independently.
Specifically, as shown in figure 4, told sphere fixing layer 3 includes the fixing shell 301 that is symmetrically fixedly connected of two pieces,
There are two groups of retainers being symmetrically installed 302 and steel ball 303 inside fixing shell 301, sphere 304 passes through retainer 302 and fixes
Shell 301；Wherein, sphere 304 is not contacted with fixing shell 301 and retainer 302, steel ball 303 respectively with sphere 304 and keep
The inner wall joint of frame 302 and fixing shell 301 enables sphere 304 in the center free movement of fixing shell 301, fixes
Shell 301 plays supporting function to sphere 304 by steel ball 303, and sphere 304 is made not depart from fixing shell 301；Steel ball 303 exists
Rotation is done under the movement of sphere 304 and is moved around sphere 304, and the limiting slot of steel ball 303 is provided on retainer 302, is protected
Having demonstrate,proved sphere 304, steel ball 303 keeps spacing in the process of movement.
Preferably, a kind of drive mechanism of all-around mobile is provided with processor, and processor control it is all
Electric elements.
Overall construction approximation planetary gear set structural principle of the invention, wherein the approximate planetary gear set of connecting bracket 202
In planet carrier, the planetary gear in the approximate planetary gear set of driving wheel 203, the sun in the approximate planetary gear set of sphere 304
Gear, the ring gear in the approximate planetary gear set of driven gear ring 204；Its steering procedure are as follows: driven gear ring 204 does not rotate, connection
202 rotation of bracket, and driving wheel 203 is driven to do revolution motion around driven gear ring 204 and 304 central axis of sphere, that is, it drives
The process of 203 revolution of wheel is exactly the change process in direction；It drives process are as follows: connecting bracket 202 does not rotate, driven gear ring 204
Rotation, and 203 rotation of driving wheel is driven, one end and 304 CONTACT WITH FRICTION of sphere due to driving wheel 203, sphere 304
Under the action of driving wheel 203, there is the driving force in 203 revolution direction of a perpendicular drive wheel, i.e. sphere 304 moves forward or back
Movement；The purpose of all-around mobile is met under steering procedure and driving process mating reaction；Compared with prior art, originally
Invention, which is realized through two groups of motor control sphere directions of motion, achievees the purpose that all-around mobile, and uses approximate row
Star gear set drive mechanism and modularized design structure, effectively reduce the complexity of totle drilling cost and control system, and it is proper to make
Product is small, facilitates maintenance and drive mechanism highly reliable, convenient for widely available.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are various under the inspiration of the present invention
The product of form, however, make any variation in its shape or structure, it is all to fall into the claims in the present invention confining spectrum
Technical solution, be within the scope of the present invention.
Claims (5)
1. a kind of drive mechanism of all-around mobile, including rotating layer, driving layer, sphere fixing layer, the rotating layer setting exist
Top is fixedly connected with driving layer, and the driving layer is arranged at intermediate position, is fixedly connected with sphere fixing layer, the sphere
Fixing layer is arranged in bottom.
2. a kind of drive mechanism for the all-around mobile told according to claim 1, it is characterised in that: told rotating layer includes rotation
Turn shell and the end cover for being fixed on rotational shell upper end, rotation gear is located at the inside of rotational shell, not with rotational shell
Contact, rotation gear are fixed on the upper end of connecting bracket, rotation gear and rotation gear shaft Vertical Meshing, and rotation gear shaft runs through
Rotational shell, the other end are fixedly connected with rotating electric machine, and rotating electric machine is fixed on the outside of rotational shell.
3. a kind of drive mechanism for the all-around mobile told according to claim 1, it is characterised in that: tell that driving layer includes driving
Dynamic shell and shape are the connecting bracket of zed type, are respectively equipped with a driving wheel in the two sides of connecting bracket；The driving wheel
One end and driven gear ring Vertical Meshing, the other end contacts with sphere friction, and driven gear ring is mounted on driving interior of shell, and
In the lower section of connecting bracket, driven gear ring and gear shaft Vertical Meshing, gear shaft through driving shell, the other end with
Driving motor is fixedly connected, and driving motor is fixed on the outside of driving shell；Wherein, driving motor is not done mutually with rotating electric machine
It relates to, gear shaft, connecting bracket, rotation gear shaft are not interfered mutually.
4. a kind of drive mechanism for the all-around mobile told according to claim 1, it is characterised in that: told sphere fixing layer packet
The fixing shell that two pieces is symmetrically fixedly connected is included, there is two groups of retainers and steel ball being symmetrically installed, sphere inside fixing shell
Across retainer and fixing shell；Wherein, sphere is not contacted with fixing shell and retainer, steel ball respectively with sphere and holding
The inner wall joint of frame and fixing shell, enables sphere in the center free movement of fixing shell, and fixing shell passes through steel ball
Supporting function is played to sphere, sphere is made not depart from fixing shell；Steel ball does rotation under the movement of sphere and transports around sphere
It is dynamic, it is provided with the limiting slot of steel ball on retainer, ensure that steel ball keeps spacing to sphere in the process of movement.
5. a kind of drive mechanism for the all-around mobile told according to claim 1, it is characterised in that: a kind of comprehensive shifting
Dynamic drive mechanism is provided with processor, and processor controls all electric elements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910224681.2A CN109826914A (en) | 2019-03-23 | 2019-03-23 | A kind of drive mechanism of all-around mobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910224681.2A CN109826914A (en) | 2019-03-23 | 2019-03-23 | A kind of drive mechanism of all-around mobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109826914A true CN109826914A (en) | 2019-05-31 |
Family
ID=66871153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910224681.2A Pending CN109826914A (en) | 2019-03-23 | 2019-03-23 | A kind of drive mechanism of all-around mobile |
Country Status (1)
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